A new PI and PID control design method for integrating systems with time delays: applications to AQM of TCP flows

Allowable PI and PD controller gains for a class of unstable MIMO systems with input/output delays have been investigated in [5, 12]. Using the results of these studies, we propose a new method for tuning the parameters of PI and PID controllers for integrating processes with time delays. As an application of this method, we design PI and PID controllers for Active Queue Management,of TCP flows and illustrate performance,of these controllers by packet level simulations in ns-2. Key‐Words: PID Controllers, Time Delay, Integrating Processes, Active Queue Management